CN108964556A - For driving the senseless control device of permanent magnetic synchronous electrical motor - Google Patents
For driving the senseless control device of permanent magnetic synchronous electrical motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The present invention provides a kind of for driving the Speed Sensorless Control Method of permanent magnetic synchronous electrical motor comprising following steps: the armature three-phase current generated when detecting the permanent magnetic synchronous electrical motor side actual motion；Estimated value based on the armature three-phase current and spinner velocity is estimated by rotor angular rate of the class phaselocked loop to the permanent magnetic synchronous electrical motor；Rotor flux and stator resistance are constantly corrected and estimated using improved model reference adaptive system based on the armature three-phase current and estimation rotor velocity；Rotor velocity, the three-phase current, the rotor flux of the estimation and stator resistance based on the estimation generate the feedforward stator voltage of estimation；The output of the inverter of the permanent magnetic synchronous electrical motor is controlled, based on the feedforward stator voltage to carry out the direct torque of the motor.
Description
Technical Field
The invention relates to the field of motor control, in particular to a speed sensorless control device for driving a permanent magnet synchronous motor.
Background
The Permanent Magnet Synchronous Motor PMSM (PMSM for short) has a working principle that three-phase symmetrical current is introduced into a three-phase winding of a stator, and a rotor generates a substantially constant static magnetic field by a Permanent Magnet. When three-phase alternating current is introduced into the three-phase symmetrical winding of the stator, a rotating magnetic field is generated in the air gap. If the number of the magnetic pole pairs of the rotor magnetic field is equal to that of the magnetic pole pairs of the stator magnetic field, the rotor magnetic field synchronously rotates along with the stator rotating magnetic field under the action of the magnetic pulling force of the stator magnetic field, namely, the rotor rotates at the speed and in the direction which are equal to those of the rotating magnetic field.
When a permanent magnet synchronous motor driving system PMSM is designed, the torque change rate of the system can be controlled according to a linear curve and a nonlinear curve. Usually a linear curve is chosen, which is generally a function of torque rate as set as a function of time, as shown in fig. 1. The linear function relationship is simple to process, but the acceleration of the system is slow, and the requirements of quick starting, quick acceleration and effective energy feedback of the system are difficult to meet. The nonlinear curves are various, but most of the processing procedures are complex and have overlarge calculated amount, and the response characteristic of the system is poor.
Because the control working condition of the PMSM is complex and the environment is severe, when the set current is large and is in a deep weak magnetic state, if the torque change rate is too fast, the actual current cannot track the set current easily, so that the current regulator is saturated rapidly, and the current is out of control. Once the current is out of control, the motor and the controller thereof have the faults of overspeed, overcurrent, rise of the DC bus voltage and the like. Therefore, steady-state control of the permanent magnet synchronous motor PMSM has been the focus of research in the field.
The development of the speed sensorless control technology starts from a conventional transmission control system with a speed sensor, and the starting point of the problem is to perform speed estimation by using detected physical quantities such as stator voltage, current and the like which are easy to detect to replace the speed sensor. The important aspect is how to accurately acquire the information of the rotating speed, keep higher control precision and meet the requirement of real-time control. The control system without the speed sensor does not need detection hardware, so that various troubles brought by the speed sensor are avoided, the reliability of the system is improved, and the cost of the system is reduced; on the other hand, because a detection element is not used, the system has small volume and light weight, and the connecting wires between the motor and the controller are reduced, so that the speed regulating system adopting the asynchronous motor without the speed sensor has wide application in engineering.
However, in most sensorless control based on back emf, the steady state model of the synchronous machine is only used as a reference. Therefore, in the low speed region, the system cannot maintain a steady state when there is a change in the parameter or load condition. Since the stator resistance and the rotor flux linkage vary with temperature variations, it is necessary to prevent saturation and aging of the magnet, maintain robustness of the system, and accurately estimate the values of the parameters when the sensorless system is operating at low speed.
In the stator feedforward voltage estimation method, aiming at a voltage-current relation model of a permanent magnet synchronous motor in a rotating dq coordinate system, an approximate linearization method is adopted in a steady state, and the stator voltage for feedforward control is estimated based on motor parameters and a current given value. The equations are described as follows:
however, the stator feed forward voltage estimation is dependent on motor parameters, and at low speeds the system is very sensitive to variations in a number of parameters and is therefore prone to vibration.
The state estimation of the parameters of the system can also be performed by using a sliding-mode observer. The sliding mode observer is a dynamic system that obtains an estimated value of a state variable from measured values of external variables (input variables and output variables) of the system, and is also called a state reconstructor. However, the system using the sliding-mode observer has a larger noise estimation ratio, and an additional filter is required in practical application.
Therefore, there is a need to provide a solution for a sensorless control system for driving a permanent magnet synchronous motor with a high stability performance at low speeds.
Disclosure of Invention
To solve the above problems, the present invention provides a speed sensorless control method for driving a permanent magnet synchronous motor, the method comprising the steps of:
detecting armature three-phase current generated in the actual operation of the permanent magnet synchronous motor side;
estimating the rotor electrical angular speed of the permanent magnet synchronous motor through a phase-locked loop based on the estimated values of the armature three-phase current and the rotor speed;
continuously correcting and estimating rotor flux linkage and stator resistance by adopting an improved Model Reference Adaptive System (MRAS) based on the armature three-phase current and the estimated rotor angular speed;
generating an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance;
controlling an output of an inverter of the permanent magnet synchronous motor based on the feed-forward stator voltage to perform torque control of the motor.
According to an embodiment of the present invention, it is preferable that in the step of estimating the rotor electrical angular velocity of the permanent magnet synchronous motor through a phase-locked loop-like based on the armature three-phase currents, the method further includes the sub-steps of:
performing low-pass filtering on the estimated and output rotor electrical angular velocity value, and feeding the value serving as the estimated value of the rotor velocity back to the input of the similar phase-locked loop;
taking the set rotor speed and the estimated value of the rotor speed as input to carry out first proportional integral adjustment to form q-axis given current;
and carrying out difference on the q-axis given current and the actually detected q-axis actual current to obtain an error component, and continuously carrying out second proportional integral adjustment on the error component to obtain an estimated value of the electronic angular velocity.
In accordance with one embodiment of the present invention, in a speed sensorless control method for driving a permanent magnet synchronous motor, the equation of the improved model reference adaptive system consists of a feedforward linear model and a nonlinear feedback component:
wherein R issAndare an estimated value of the stator resistance and an estimated value of the rotor flux linkage, which are continuously updated in the adaptive model MRAS as an output of the model reference adaptive model MRAS, such that an estimated d-axis current idAnd q-axis current iqThe values are respectively:
where G is the observed gain matrix and G1 and G2 are the coefficients of the G matrix, which ensure that the feedforward linear model is positive and real.
In the speed sensorless control method for driving a permanent magnet synchronous motor of the present invention, it is preferable that an error correction amount between the q-axis given current and the q-axis actual current is represented by the following mathematical model in the phase-locked loop-like rotational speed estimation process:
obtaining the error correction amount by simultaneously solving the nonlinear feedback component and a feedforward linear model in which Rs andis adaptive toThe equation is as follows:
whereinThe method comprises the steps of estimating a proportional adjustment coefficient of resistance, estimating an integrator adjustment coefficient of resistance, estimating a proportional adjustment coefficient of rotor flux linkage, estimating an integrator adjustment coefficient of rotor flux linkage, initially estimating stator resistance and rotor flux linkage respectively.
In the speed sensorless control method for driving a permanent magnet synchronous motor of the present invention, it is preferable that in the step of generating an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance, the feed-forward stator voltage is obtained by a feed-forward stator voltage equation modified as follows:
where Δ V is an output subjected to proportional-integral adjustment for a given current of the d-axis, and ω e, which represents an output in which the point angular velocity is proportional-integral adjustment for a given current of the q-axis.
According to the speed sensorless control method for driving a permanent magnet synchronous motor of the present invention, it is preferable to select the parameters of the proportional-integral regulator in the range of [0.01-1] to eliminate the minimized steady-state error.
According to the speed sensorless control method for driving a permanent magnet synchronous motor of the present invention, it is preferable that, in the model reference adaptive system, the estimated value of the rotor flux linkage and the stator resistance are first-order filtered to suppress an increase in the estimated value of the rotor flux linkage and to reduce distortion caused by estimation of the stator resistance.
According to another aspect of the present invention, there is also provided a speed sensorless control apparatus for driving a permanent magnet synchronous motor, the apparatus including:
a detection unit for detecting an armature three-phase current generated when the permanent magnet synchronous motor actually operates;
the phase-locked loop-like rotor electrical angular velocity estimation unit is used for estimating the rotor electrical angular velocity of the permanent magnet synchronous motor through a phase-locked loop based on the estimated values of the armature three-phase current and the rotor velocity;
a model reference adaptive MRAS estimation unit to continuously correct and estimate rotor flux linkage and stator resistance with an improved model reference adaptive system based on the armature three-phase current and estimated rotor angular velocity;
a feed-forward stator voltage estimation unit to generate an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance;
a control output unit to control an output of an inverter of the permanent magnet synchronous motor based on the feed-forward stator voltage to perform torque control of the motor.
The invention has the beneficial effects that: the model reference self-adaptive method can reduce the adverse effect of parameter variation in PMSM driven by a stator feedforward voltage estimation method, and simultaneously eliminates transient vibration in rotating speed estimation by adopting a speed estimation method similar to a phase-locked loop. The implementation of the invention can lead the control of the sensorless PMSM to be similar to the voltage/frequency control method of the asynchronous motor, and can realize zero-speed starting. In addition, the method of the present invention has better stability than a sliding mode observer under conditions of low speed and parameter detuning.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 shows a prior art graph of torque control using a linear rate of change of torque;
fig. 2 shows a control block diagram of a permanent magnet synchronous motor PMSM employing a speed sensor;
FIG. 3 shows a control schematic of a sensorless permanent magnet synchronous motor PMSM employing a model reference adaptive system MRAS according to an embodiment of the present invention; and
FIG. 4 shows a feed forward voltage estimation schematic based on a model reference adaptive MRAS multi-parameter estimation method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In a PMSM control system using Space Vector Pulse Width Modulation (SVPWM), due to system nonlinearity, variation of motor parameters with load and temperature, installation error of a speed sensor, current sampling error and other factors existing in an actual environment, a problem of rotor disturbance exists in a PMSM at zero speed or extremely low speed.
However, this solution brings about a problem that the motor must have a switch from a low-speed low-torque state to a state out of the low-speed low-torque state, and this switching point causes an instantaneous current spike, the magnitude of the current spike has a certain randomness, and the current spike is influenced by the above factors at the switching point, and if the current spike is too large, the motor will cause a relatively obvious jitter at the switching point.
Fig. 2 shows a control block diagram of a vector control strategy employing a combination of maximum torque to current ratio control below base speed and flux weakening control above base speed for PMSM.
As shown in the figure, the control structure includes a detection unit, a conversion unit, and a torque adjustment unit.
And the detection units, namely a current detection module, a speed detection module and a position detection module which are indicated in a frame in the figure, are used for detecting the three-phase current, the rotating speed and the position of the armature in the running process of the motor in real time. The permanent magnet synchronous motor needs to detect the actual spatial position of the rotor, and the system can determine the power-on mode and the control mode of the motor controller and the amplitude and the phase of the output current by detecting the actual position of the rotor through a rotary transformer on the motor so as to ensure the normal work of the permanent magnet synchronous motor.
The transformation unit mainly comprises a Clark transformation module and a Park transformation module. The invention converts the detected armature three-phase current into motor alternating-direct axis current based on Clark-Park conversion and calculates the corresponding alternating-direct axis voltage.
In the algorithm of the high-precision controller of the PMSM of the alternating current permanent magnet synchronous motor, CLARK-PARK conversion and Space Vector Pulse Width Modulation (SVPWM) operation are necessary. Wherein a Clark transformation is used to modify a three-phase system into two coordinate systems. And Park conversion is conversion of a bidirectional static system into a rotating system vector Park, which is the basic conversion during analysis and calculation of the alternating current motor which is the mainstream at present.
In terms of mathematical concepts, the Park transformation is a coordinate transformation from abc coordinates to dqo coordinates. In other words, the voltage u on the flux linkage a, flux linkage b, flux linkage c is seta、ub、ucAnd current ia、ib、icThese quantities are transformed into dqo coordinates. I on the stator can be converted by park conversiona，ib，icThe three-phase current projection is equivalent to the d and q axes. For steady state, iq, id after equivalence is just a constant. In this way, the observation point is transferred from the stator to the rotor, so that only the rotating magnetic field generated by the equivalent direct and quadrature axes needs to be concerned.
By measuring and controlling the current vector of the stator of the motor, the stator current vector is decomposed into the current components (i) that generate the magnetic field according to the field-oriented principleqAlso called field current or direct current) and the torque-generating current component (i)dAlso known as torque current or quadrature current). The amplitude and phase of the exciting current and torque current components of the motor are controlled separately, so as to control the motor torque. The rotor of the permanent magnet synchronous motor is a permanent magnet, the magnetic field of the permanent magnet synchronous motor is excited by the permanent magnet, and when the torque of the permanent magnet synchronous motor is controlled, if vector control based on the orientation of the rotor magnetic field is adopted, the position of the rotor magnetic field is the position of the permanent magnet magnetic field.
Therefore, under the condition of torque setting, as long as d-axis and q-axis current components are optimally configured, the stator current can be minimized, namely the torque output under unit current is maximized, so that the copper loss of the motor is reduced, the operation efficiency is improved, and the performance of the whole system is optimized.
Wherein the maximum torque current ratio control, i.e. control idIn pursuit of maximum torque.Under the condition of generating required torque control, only minimum stator current is needed, so that loss is reduced, the work of a controller switching device is facilitated, and the efficiency is improved.
In the control structure shown in fig. 2, a torque adjusting unit is further included that adjusts the output torque in stages at different torque change rates based on a range in which the value of the modulation factor Mindex is located, where the modulation factor is related to the vector of the quadrature-direct axis voltage or the quadrature-direct axis current.
The magnitude of the current-voltage vector of the PMSM is as follows:
according to one embodiment of the invention, the modulation factor Mindex may be defined as follows:
wherein, Us is the alternating current-direct current axis voltage vector generated by the rotating magnetic field of the motor, and Udc is the collected direct current bus voltage. The voltage input to SVPWM is shown in fig. 2.
According to the invention, maximum torque current ratio control is used at base speed, and flux weakening control is used above base speed. Therefore, a threshold value of the modulation factor corresponding to the base rate needs to be determined.
Preferably, the torque adjusting unit further comprises a target torque current calculating module, a field weakening judgment/excitation current calculating module, a feed-forward voltage calculating module and a quadrature-direct axis voltage calculating module.
The target torque current calculation module obtains a current set value according to a target rotating speed or a set torque command sent by the controller.
The calculation of the current set point is described below.
The electromagnetic torque equation for the motor is as follows:
Te＝np[ψfiq-(Ld-Lq)idiq](6)
in the formula: n ispIs the number of pole pairs of the motor, LdIs a direct-axis inductor of the motor, LqIs motor quadrature axis inductance, idFor direct shaft current of the motor, iqFor motor quadrature axis current, psifIs a permanent magnet flux linkage of the motor, which is a certain value.
The maximum torque and minimum current control algorithm is derived by the deduction that the electromagnetic torque equation of the motor meets the conditional extreme value of the stator current, namely the current of the permanent magnet synchronous motor should meet the following conditions:
the relationship between the orthogonal and orthogonal axis currents in the maximum torque and minimum current control mode is as follows:
the set values of the ac and dc axis currents required for the maximum torque-to-current ratio control can be obtained by using equations (6) and (8) based on the system set torque.
Preferably, the alternating-direct axis current after Clark-Park conversion is also subjected to PID regulation. As shown in the figure, the PID adjusting unit is used for ensuring that the quadrature-direct axis current measured in real time can quickly and stably follow the current set value calculated in the target torque current calculating module. PID regulation is proportional, integral, derivative regulation. Is used to eliminate the error between the given current value and the feedback current value. The error of the system is proportionally eliminated by proportion adjustment, and the proportion adjustment immediately generates an adjusting action to reduce the deviation once the system generates the deviation. The integral adjustment enables the system to eliminate steady-state errors and improves the tolerance. The differential regulation reflects the rate of change of the system deviation signal, is predictive, and predicts the trend of deviation change, thus generating an advanced control action, which is eliminated by the differential regulation action before the deviation is not formed. The dynamic performance of the system can be improved.
The torque control principle of the present invention is similar to the above, but instead of using actually sampled speed feedback values (i.e. sensorless control) for parameter input, multi-parameter estimation, especially speed estimation, is performed using estimation methods, in particular model-reference adaptive methods.
The model reference adaptive control system is an adaptive control system which comprises an ideal system model and can automatically adjust parameters by taking the working state of the model as a standard, and is called a model reference system for short. The output or state of the reference model is equivalent to a given dynamic performance index, error information is obtained by comparing the output or state response of the controlled object and the reference model, and the parameters of the actual system (parameter self-adaptation) are corrected or an auxiliary input signal (signal comprehensive self-adaptation) is generated according to a certain rule (self-adaptation law), so that the output or state of the actual system can follow the output or state of the reference model as much as possible. The law of parameter modification or the generation of the auxiliary input signal is done by an adaptive mechanism.
In general, the dynamic and steady state models of a permanent magnet synchronous machine can be expressed as:
in the rotating synchronous coordinate system, the stator voltage equation of the permanent magnet synchronous motor is as follows:
vq＝iqRs+Lqdiq/dt+(ωeLdid+ωeλf) (9)
vd＝idRs+Lddid/dt-ωeLqiq(10)
wherein vd and vq、id、iqStator d and q axis voltages and currents in a rotor coordinate system respectively; rs is stator winding resistance; l isdAnd LqRepresenting d and q-axis inductances, respectively; ω e is the rotor angular velocity; and λ f is the flux linkage due to the permanent magnet rotor flux.
The corresponding steady state forms are as follows:
vq＝iqRs+(ωeLdid+ωeλf) (11)
vd＝idRs-ωeLqiq(12)
in addition, in feed forward stator voltage estimation, the stator voltage is referenced vd *And vq *Added to the PMSM steady state equation as a feed forward estimator with the schematic block diagram shown in fig. 3.
Where the derivative term in the voltage equation is the output of the d-axis PI regulator and the estimated speed is output by the q-axis PI current regulator. In fig. 3, sensorless permanent magnet synchronous motors based on feed forward stator voltage estimation are vector controlled using Space Vector Pulse Width Modulation (SVPWM). In the q-axis winding, the q-axis current is controlled with the rotation speed or stator voltage frequency. By ignoring the differential term, assume that the true current value and the reference value are equal (i)q＝iq*、id＝idThe amplitude of the q-axis voltage can be obtained (superscript ^ is a reference value, and ^ is an estimated value). In dq coordinate system is given the proposal according to the inventionImproved sensorless feed-forward stator voltage equation of (1):
Δ V is the output of the d-axis PI current regulator and ω e is the output of the q-axis PI current regulator, i.e., the electrical angular velocity. In the q-axis voltage equation, the gain K multiplied by Δ V represents the portion of the differential term in the dynamic voltage equation given in (9).
Similarly, in (13), the Δ V term is also used as part of the derivative given in (10) to obtain better transient response in sensorless operation. Due to vdFeed forward control is based on the assumption (10) that the magnetic field is oriented such that deviations due to such misalignment will cause i to deviatedThe controller generates a correction signal. This signal influences the q-axis voltage v under the influence of the K gainqI is also influencedqIt will cause the q-axis current controller output to change to reconstruct the correct magnetic field orientation. Finally, the accurate rotating speed is obtained.
In steady state operation, when d-axis current idI of q-axis current while minimizing rotor flux linkage errorqThe reference value is derived from the output of the speed regulator and indirectly controls the torque. The rotor flux linkage is by definition with iqIs proportional, it is adjusted so that the d-axis current is equal to zero at steady state. Therefore, the actual dq-axis voltage is proportional to the reference dq-axis voltage. Similar to the method used in induction machines, in equation (9), when id ═ 0, the d-axis current regulator output Δ V and the rotor flux linkageThe relationship at steady state is
At steady state ωeIs constant, so that the rotor is magneticChain f is proportional to v and is approximately
In the closed-loop estimation module of the rotor speed and the rotor angle of the similar phase-locked loop in fig. 4, after a first-order low-pass filter is arranged in a q-axis PI regulator, an estimation value of the rotor speed can be obtainedAdding a low pass filter to the PLL-like estimation block can improve stability. The time constant of the filter depends on the mechanical characteristics of the system and can affect the dynamic performance and stability of the sensorless control scheme.
In order to eliminate errors caused by the change of stator resistance and rotor flux linkage of the sensorless permanent magnet synchronous motor, a model reference self-adaptive method is adopted for multi-parameter estimation. In the stator feedforward voltage estimation, a model reference adaptive parameter estimation equation is adopted. (9) And (10) respectively carrying out corresponding modification on the reference frame and the adjustable model of the permanent magnet synchronous motor. An overall block diagram of the proposed model reference adaptive system parameter estimation model is shown in fig. 4. And adding variables delta V and k delta V into the reference model to establish a steady-state permanent magnet synchronous motor equation. The improved model reference adaptive system equation consists of a feedforward linear model and a nonlinear feedback component:
wherein R issAndare the stator resistance estimate and the rotor flux linkage, and are also the outputs of the adaptive model, respectively. RsAndin an estimation module in a closed loop systemAnd (5) new. Thus, the estimated current idAnd iqThe values are:
where G is the observed gain matrix and G1 and G2 are the coefficients of the G matrix, which ensures that the feedforward linear model is positive and real. In order to obtain the desired poles of the current estimator model, the observation gain matrix should be composed of symmetric components. The observer gain matrix is designed to enable the dynamic error to be gradually stabilized. If the eigenvalues of the matrix are chosen such that the error vector tends to settle fast enough, the error vector will tend to zero at a suitable rate. Thus, the error of the model reference adaptive current estimator is given:
error according to the Bob's inequality criterionAndadjusted by the PI regulator coefficients. Thus, two error component parameters are given:
wherein is gamma0 2A normal number. When (17) and (18) are solved together, the error correction can be written as
The error correction is completed by the above mathematical modelIn (1). Error correction is obtained by simultaneously solving nonlinear and feedforward linear models, in which the values of the estimated and reference current, if the output of the estimated and reference models needs to be obtained, can be represented by the formula in the model, i.e. theAndand (6) obtaining. Rs and Rs are given here respectivelyThe adaptive equation of (c):
wherein,the method comprises the steps of estimating a proportional adjustment coefficient of resistance, estimating an integrator adjustment coefficient of resistance, estimating a proportional adjustment coefficient of rotor flux linkage, estimating an integrator adjustment coefficient of rotor flux linkage, initially estimating stator resistance and rotor flux linkage respectively. In equations (22) and (23), the stator resistance and rotor flux linkage estimates may provide a faster response than the closed loop cycle. Since large state errors continue to grow over the estimation period, selecting the appropriate regulator parameters is critical to minimize steady state errors. In the proposed model reference adaptive method, a low pass filter can be used to overcome the rise of the rotor flux linkage estimation value of the motor under low speed and zero crossing conditions and reduce the distortion effect caused by stator resistance estimation.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A speed sensorless control method for driving a permanent magnet synchronous motor, the method comprising the steps of:
detecting armature three-phase current generated in the actual operation of the permanent magnet synchronous motor side;
estimating the rotor electrical angular speed of the permanent magnet synchronous motor through a phase-locked loop based on the estimated values of the armature three-phase current and the rotor speed;
continuously correcting and estimating rotor flux linkage and stator resistance by adopting an improved model reference adaptive system based on the armature three-phase current and the estimated rotor angular speed;
generating an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance;
controlling an output of an inverter of the permanent magnet synchronous motor based on the feed-forward stator voltage to perform torque control of the motor.
2. The sensorless control method for driving a permanent magnet synchronous motor according to claim 1, wherein in the step of estimating the rotor electrical angular velocity of the permanent magnet synchronous motor through a phase-like locked loop based on the armature three-phase currents, further comprising the substeps of:
performing low-pass filtering on the estimated and output rotor electrical angular velocity value, and feeding the value serving as the estimated value of the rotor velocity back to the input of the similar phase-locked loop;
taking the set rotor speed and the estimated value of the rotor speed as input to carry out first proportional integral adjustment to form q-axis given current;
and carrying out difference on the q-axis given current and the actually detected q-axis actual current to obtain an error component, and continuously carrying out second proportional integral adjustment on the error component to obtain an estimated value of the electronic angular velocity.
3. The sensorless control method for driving a permanent magnet synchronous motor according to claim 2, wherein the equation of the improved model reference adaptive system consists of a feedforward linear model and a nonlinear feedback component:
wherein R issAndis an estimate of the stator resistance and an estimate of the rotor flux linkage, which is continuously updated in the adaptive model as an output of the model reference adaptive model such that an estimated d-axis current idAnd q-axis current iqThe values are respectively:
where G is the observed gain matrix and G1 and G2 are the coefficients of the G matrix, which ensure that the feedforward linear model is positive and real.
4. A speed sensorless control method for driving a permanent magnet synchronous motor according to claim 3, wherein an amount of error correction between the q-axis given current and the q-axis actual current in the phase-locked loop-like rotational speed estimation process is represented by a mathematical model as follows:
obtaining the error correction amount by simultaneously solving the nonlinear feedback component and a feedforward linear model in which Rs andthe adaptive equation of (a) is as follows:
whereinRespectively, the proportional regulation coefficient of the estimated resistance and the integrator regulation coefficient of the estimated resistanceEstimating a proportional adjustment coefficient of the rotor flux linkage, an integrator adjustment coefficient of the rotor flux linkage, initially estimating a stator resistance, and the rotor flux linkage.
5. The sensorless control method for driving a permanent magnet synchronous motor according to claim 4, wherein in the step of generating an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance, the feed-forward stator voltage is obtained by a modified feed-forward stator voltage equation:
where Δ V is an output subjected to proportional-integral adjustment for a given current of the d-axis, ω e represents an electrical angular velocity, and is an output subjected to proportional-integral adjustment for a given current of the q-axis.
6. The sensorless control method for driving a permanent magnet synchronous motor according to claim 5, wherein the proportional-integral regulator parameters are selected in the range of [0.01-1] to eliminate minimized steady state errors.
7. The speed sensorless control method for driving a permanent magnet synchronous motor according to claim 6, wherein a rise of the estimated rotor flux linkage value and a distortion caused by the estimated stator resistance are suppressed and reduced by first-order filtering the estimated rotor flux linkage value and the stator resistance in the model reference adaptive system.
8. A speed sensorless control apparatus for driving a permanent magnet synchronous motor, the apparatus comprising:
a detection unit for detecting an armature three-phase current generated when the permanent magnet synchronous motor actually operates;
the phase-locked loop-like rotor electrical angular velocity estimation unit is used for estimating the rotor electrical angular velocity of the permanent magnet synchronous motor through a phase-locked loop based on the estimated values of the armature three-phase current and the rotor velocity;
a model reference adaptive estimation unit to continuously correct and estimate rotor flux linkage and stator resistance with an improved model reference adaptive system based on the armature three-phase current and estimated rotor angular velocity;
a feed-forward stator voltage estimation unit to generate an estimated feed-forward stator voltage based on the estimated rotor angular velocity, the three-phase currents, the estimated rotor flux linkage, and a stator resistance;
a control output unit to control an output of an inverter of the permanent magnet synchronous motor based on the feed-forward stator voltage to perform torque control of the motor.
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| CN111835252A (en) * | 2019-04-17 | 2020-10-27 | 华北电力大学（保定） | Flexible load vibration and PMSM torque ripple comprehensive suppression method under stator current vector orientation considering electrical loss |
| CN111835252B (en) * | 2019-04-17 | 2023-08-11 | 华北电力大学（保定） | Flexible load vibration and PMSM torque pulsation comprehensive suppression method considering electrical loss |
| JP2022552361A (en) * | 2019-10-15 | 2022-12-15 | クノル－ブレムゼ ジステーメ フューア ヌッツファールツォイゲ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Apparatus and method for estimating motor parameters |
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| CN113098339B (en) * | 2021-05-20 | 2022-12-20 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
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Application publication date: 20181207 |